智能车控制系统（基于单片机的自动控制器控制模型车）.docVIP

摘 要 智能车控制系统是通过单片机的自动控制器控制模型车在封闭的跑道上自主循线运行，在保证不冲出跑道的前提下，跑完一圈的时间越小成绩越好。 我们通过对整体方案、电路、算法的分析，硬件电路部分主要采用MC33886模块稳定、有力地驱动直流电动机和舵机，采用激光传感器实现道路检测，获取赛道信息，反馈给单片机MSP430F149。电机驱动采用基于MC33886全桥电机驱动芯片。软件系统部分主要以下模块的算法;MSP430F149单片机 ABSTRACT Intelligent Vehicle control system design and debugging MCU is through the design of automatic controller model car in a closed runway independent line running through, ensuring the car is not out of the premise of the runway,finish the lap time for the less used the better results. Through the whole program,circuit,algorithm,debug,annalysis of vehicle parameters,we decided to use some of the major MC33886 hardware module that can stabilize a powerful DC motor and servo drive.And laser sensors to achieve the road test in result to get track information,and finally feedback to the microcontroller MSP430F149. Software systems, including some major recognition system associated with the path of the algorithm module in addition to vehicle speed detection module uses optical encoders to detect model car speed,the purpose is that you can form a closed loop of the PID speed control;while car steering control with PWM technology was streering and motor speed. CodeWarrior software development tools enable the design of programming and debugging work is guaranteed. All in all, the temper of our knowledge integration and practical ability to train great role. Keywords：Smart car; Path identtification; Laser sensors; PID; MSP430F149 目录 1 绪论……………………………………………………………1 1.1课题的发展概况………………………………………………………1 1.2课题内容与意义………………………………………………………2 1.3文本结构………………………………………………………2 2智能车的整体设计……………………………………………4 2.1系统总体方案的选定…………………………………………………4 2.2系统总体设计………………………………………………………6 3硬件设计及说明…………………………………………14 3.1 核心控制模块 3.2电源模块设计……………………………………………………19 3.3激光传感器的设计…………………………………………………14 3.4电机驱动模块设计与实现…………………………………………17 3.5舵机的安装与控制…………………………………………………19 3..6速度检测模块 3.7 显示模块 4软件设计说明…………………………………………24 4.1系统软件流程图…………………………………………………24 4.2 所用PWM模块说明…………………………………………………25 4.3模糊PID控制算法的实现………………………………………